Shape Sensing for Single-Port Continuum Surgical Robot Using FewMulticore Fiber Bragg Grating Sensors  

作　　者：黎定佳 王重阳 郭伟 王志东 张忠涛 刘浩 LI Dingjia;WANG Chongyang;GUO Wei;WANG Zhidong;ZHANG Zhongtao;LIU Hao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Liaoning Province Key Laboratory of Minimally Invasive Surgical Robot,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China;Beijing Friendship Hospital,Capital Medical University,Beijing 100050,China;Chiba Institute of Technology,Narashino 275-0016,Chiba,Japan)

机构地区：[1]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China [2]Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China [3]Liaoning Province Key Laboratory of Minimally Invasive Surgical Robot,Shenyang 110016,China [4]University of Chinese Academy of Sciences,Beijing 100049,China [5]Beijing Friendship Hospital,Capital Medical University,Beijing 100050,China [6]Chiba Institute of Technology,Narashino 275-0016,Chiba,Japan

出　　处：《Journal of Shanghai Jiaotong university(Science)》2023年第3期312-322,共11页上海交通大学学报（英文版）

基　　金：the National Natural Science Foundation of China(Nos.61873257 and U20A20195);the Project of Natural Science Foundation of Liaoning Province(No.2021-MS-033);the Foundation of Millions of Talents Project of the Department of Human Resources and Social Security of Liaoning Province(No.2021921037)。

摘　　要：We proposed a method for shape sensing using a few multicore fiber Bragg grating (FBG) sensors ina single-port continuum surgical robot (CSR). The traditional method of utilizing a forward kinematic model tocalculate the shape of a single-port CSR is limited by the accuracy of the model. If FBG sensors are used forshape sensing, their accuracy will be affected by their number, especially in long and flexible CSRs. A fusionmethod based on an extended Kalman filter (EKF) was proposed to solve this problem. Shape reconstructionwas performed using the CSR forward kinematic model and FBG sensors, and the two results were fused usingan EKF. The CSR reconstruction method adopted the incremental form of the forward kinematic model, whilethe FBG sensor method adopted the discrete arc-segment assumption method. The fusion method can eliminatethe inaccuracy of the kinematic model and obtain more accurate shape reconstruction results using only a smallnumber of FBG sensors. We validated our algorithm through experiments on multiple bending shapes underdifferent load conditions. The results show that our method significantly outperformed the traditional methodsin terms of robustness and effectiveness.

关 键 词：single-port continuum surgical robot multicorefiber Bragg grating(FBG) forward kinematic model extended Kalmanfilter(EKF) shape reconstruction 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]